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   &#160;<span id="projectnumber">1.5.2</span>
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<p>EtherCAT CANopen SDO request structure.  
<a href="#details">More...</a></p>

<p><a href="sdo__request_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structec__sdo__request.html">ec_sdo_request</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">CANopen SDO request.  <a href="structec__sdo__request.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="sdo__request_8h.html#ad8aff35de00f93957ff85baafa8fd4e7">ec_sdo_request_init</a> (<a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *)</td></tr>
<tr class="memdesc:ad8aff35de00f93957ff85baafa8fd4e7"><td class="mdescLeft">&#160;</td><td class="mdescRight">SDO request constructor. <br /></td></tr>
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<tr class="memitem:a74443922a8e3286319551f013ca4a497"><td class="memItemLeft" align="right" valign="top"><a id="a74443922a8e3286319551f013ca4a497"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="sdo__request_8h.html#a74443922a8e3286319551f013ca4a497">ec_sdo_request_clear</a> (<a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *)</td></tr>
<tr class="memdesc:a74443922a8e3286319551f013ca4a497"><td class="mdescLeft">&#160;</td><td class="mdescRight">SDO request destructor. <br /></td></tr>
<tr class="separator:a74443922a8e3286319551f013ca4a497"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45646d530be29f32d4519c8dbba47426"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="sdo__request_8h.html#a45646d530be29f32d4519c8dbba47426">ec_sdo_request_copy</a> (<a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *, const <a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *)</td></tr>
<tr class="memdesc:a45646d530be29f32d4519c8dbba47426"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy another SDO request.  <a href="#a45646d530be29f32d4519c8dbba47426">More...</a><br /></td></tr>
<tr class="separator:a45646d530be29f32d4519c8dbba47426"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a231aeb547727a89b100f02284637f8d6"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="sdo__request_8h.html#a231aeb547727a89b100f02284637f8d6">ec_sdo_request_alloc</a> (<a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *, size_t)</td></tr>
<tr class="memdesc:a231aeb547727a89b100f02284637f8d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pre-allocates the data memory.  <a href="#a231aeb547727a89b100f02284637f8d6">More...</a><br /></td></tr>
<tr class="separator:a231aeb547727a89b100f02284637f8d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0aaf97fcc7f73f88d76a44e8d12499c2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="sdo__request_8h.html#a0aaf97fcc7f73f88d76a44e8d12499c2">ec_sdo_request_copy_data</a> (<a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *, const uint8_t *, size_t)</td></tr>
<tr class="memdesc:a0aaf97fcc7f73f88d76a44e8d12499c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copies SDO data from an external source.  <a href="#a0aaf97fcc7f73f88d76a44e8d12499c2">More...</a><br /></td></tr>
<tr class="separator:a0aaf97fcc7f73f88d76a44e8d12499c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb06bad8f9b2fb2379b274c2bb3d7b69"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="sdo__request_8h.html#aeb06bad8f9b2fb2379b274c2bb3d7b69">ec_sdo_request_timed_out</a> (const <a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *)</td></tr>
<tr class="memdesc:aeb06bad8f9b2fb2379b274c2bb3d7b69"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks, if the timeout was exceeded.  <a href="#aeb06bad8f9b2fb2379b274c2bb3d7b69">More...</a><br /></td></tr>
<tr class="separator:aeb06bad8f9b2fb2379b274c2bb3d7b69"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>EtherCAT CANopen SDO request structure. </p>

<p class="definition">Definition in file <a class="el" href="sdo__request_8h_source.html">sdo_request.h</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
<a id="a45646d530be29f32d4519c8dbba47426"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a45646d530be29f32d4519c8dbba47426">&#9670;&nbsp;</a></span>ec_sdo_request_copy()</h2>

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          <td class="memname">int ec_sdo_request_copy </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td>
          <td class="paramname"><em>req</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td>
          <td class="paramname"><em>other</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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</div><div class="memdoc">

<p>Copy another SDO request. </p>
<dl class="section attention"><dt>Attention</dt><dd>Only the index subindex and data are copied.</dd></dl>
<dl class="section return"><dt>Returns</dt><dd>Zero on success, otherwise a negative error code. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">req</td><td>SDO request. </td></tr>
    <tr><td class="paramname">other</td><td>Other SDO request to copy from. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="sdo__request_8c_source.html#l00091">91</a> of file <a class="el" href="sdo__request_8c_source.html">sdo_request.c</a>.</p>

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<a id="a231aeb547727a89b100f02284637f8d6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a231aeb547727a89b100f02284637f8d6">&#9670;&nbsp;</a></span>ec_sdo_request_alloc()</h2>

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          <td class="memname">int ec_sdo_request_alloc </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td>
          <td class="paramname"><em>req</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Pre-allocates the data memory. </p>
<p>If the <em>mem_size</em> is already bigger than <em>size</em>, nothing is done.</p>
<dl class="section return"><dt>Returns</dt><dd>0 on success, otherwise -ENOMEM. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">req</td><td>SDO request. </td></tr>
    <tr><td class="paramname">size</td><td>Data size to allocate. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="sdo__request_8c_source.html#l00127">127</a> of file <a class="el" href="sdo__request_8c_source.html">sdo_request.c</a>.</p>

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<a id="a0aaf97fcc7f73f88d76a44e8d12499c2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0aaf97fcc7f73f88d76a44e8d12499c2">&#9670;&nbsp;</a></span>ec_sdo_request_copy_data()</h2>

<div class="memitem">
<div class="memproto">
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          <td class="memname">int ec_sdo_request_copy_data </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td>
          <td class="paramname"><em>req</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const uint8_t *&#160;</td>
          <td class="paramname"><em>source</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>size</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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</div><div class="memdoc">

<p>Copies SDO data from an external source. </p>
<p>If the <em>mem_size</em> is to small, new memory is allocated.</p>
<dl class="retval"><dt>Return values</dt><dd>
  <table class="retval">
    <tr><td class="paramname">0</td><td>Success. </td></tr>
    <tr><td class="paramname">&lt;0</td><td>Error code. </td></tr>
  </table>
  </dd>
</dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">req</td><td>SDO request. </td></tr>
    <tr><td class="paramname">source</td><td>Source data. </td></tr>
    <tr><td class="paramname">size</td><td>Number of bytes in <em>source</em>. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="sdo__request_8c_source.html#l00156">156</a> of file <a class="el" href="sdo__request_8c_source.html">sdo_request.c</a>.</p>

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<a id="aeb06bad8f9b2fb2379b274c2bb3d7b69"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeb06bad8f9b2fb2379b274c2bb3d7b69">&#9670;&nbsp;</a></span>ec_sdo_request_timed_out()</h2>

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<div class="memproto">
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          <td class="memname">int ec_sdo_request_timed_out </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="group__ApplicationInterface.html#ga557aaf4c32cb56eee5e76fb6063628db">ec_sdo_request_t</a> *&#160;</td>
          <td class="paramname"><em>req</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Checks, if the timeout was exceeded. </p>
<dl class="section return"><dt>Returns</dt><dd>non-zero if the timeout was exceeded, else zero. </dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">req</td><td>SDO request. </td></tr>
  </table>
  </dd>
</dl>

<p class="definition">Definition at line <a class="el" href="sdo__request_8c_source.html#l00177">177</a> of file <a class="el" href="sdo__request_8c_source.html">sdo_request.c</a>.</p>

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